Parker Compumotor User manual

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-~

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Find the Parker / Compumotor LE57-71 at our website: Click HERE

...

o

.....

o

Compumotor Division

Parker Hannifin Corporation

88-o045n-03

A

Parkar

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PRODUCT NOTICE

Operating the L20 Linear Motor with the

LE

Drive

This product notice

is

a supplement to the

LE

Drive User Guide, part number 88-004577-03

A.

Performance

Considerations

Cooling

The

LE

Drive

can

be

used

in

linear

applications

requiring

low

EMI

emissions.

The L20 forcer is

normally

run

at

2.7

A.

producing

an

average

static

force

of

20

lbs.

The

maximum

current

setting

on

the

LE Drive

is

2A:

consequently.

at

2A.

the

L20's static force

is

reduced

to

about

151bs. The

maximum

bus

voltage of

the

LE Drive

is

±24V; therefore.

the

maximum

velocity of

the

L20 forcer

is

limited to

about

25

inches/second

(ips).

To

ensure

smooth

operation

and

optimum

microstep-to-

microstep

accuracy,

the

L20

linear

motor

is

factory-tuned

to

the

LE

Drive with which

it

is ordered.

For

best

performance.

the

L20 forcer

must

be

used

with

the

corresponding

LE

Drive.

Both

the

LE Drive

and

the

accompanying

L20 forcer have

the

same

serial

number.

_When

an

L20 forcer

is

run

With

another

LE Drive. it

may

run

rough.

and

the

maximum

cyclic-error

(measure

of

the

microstep-to-microstep

error)

may

double

or

triple.

The

maximum

cyclic

error

is

±0.OO03

inches

(±7.6 microns).

To

change

the

forcer's

default

direction

of

travel.

exchange

the

Direction +

input

with

the

Direction -

input

coming

into

the

drive.

Do

not

change the phasing

on

the forcer cable.

Changing

the

motor

phasing

makes

the

factory

tuning

invalid.

The

LE Drive

heat

Sinking

capability

is

marginal

at

2A

operation. The

LE

Drive. however.

does

not

come with

an

optional

fan

kit: therefore.

Compumotor

strongly

recommends

you

use

a

fan

for

extra

cooling. You

can

also

operate

the

LE Drive

at

a lower

current

to

prevent

thermo-

If

accuracy

and/

or

repeatability

are

important.

do

not

use

the

standby

mode.

This

may

change

the

motor's

position

slightly

when

the

current

is

reduced. Do

not

use

the

current

boost

mode.

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2 PRODUCT NOTICE:

LE

DRIVE WITH

L20

LE

Drive DIP

Switch Settings

,.--.

LIE

Drive DIP

1 2 3 4

ON

ON ON

----

~-

----

---- ---- ----

~-

----

--_

...

1---

----

---- ----

......

-

...

I----

----

...

---

'----

SWitch

5

----

OFF

----

The

use

the

L20

linear

motor

with

the

LE

Drive,

the

LE

Drive

DIP

switches

must

be

set

according

to Table 1 below.

Settings

6 7 8

Function

---

...

----

---- 2.0A Current Settina

---

...

----

---- Motor Standby Disabled

ON

......

--

----

Reserved (must be

ON)

---- OFF

OFF

25,400 steps/in

(1,000

steps/rev)

---.

OFF

ON

20,000 steps/in (40,000 steps/rev)

----

ON

OFF

12,700 steDs/in (500 steDs/rev)

---- ON

..

.2:L

10,000 steps/in(20,OOO steps/rev)

Table

1.

LE

DIP Switch

Settings

for

the

L20

Linear

Motor

Connecting the L20 Use Figure 1 below

as

a gUide for

connecting

the

L20 forcer to

Forcer

the

LE

Dnlve.

Phase

A+

= Red

Phase A- = Black

Phase B+ = White

Phase

B-

=Green

Figure

1.

Connecting

the

L20 Forcer to

the

LE

Drive

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T'ECHNICAL

B1JLLETIN

PARKER

COMPUMOTOR

No. 125

PRODUCT:

LE

Drive

DESCRIPTION:

Temperature

Specifications

SOFTWARE

AFFECTED:

n/a

RELEASE:

n/a

July

12,

1988

Recently

it

was

discovered

that

the

temperature

specification

for

the

LE

Dri.ve

in

both

the

manual

and

our

catalog

was

incorrect.

The manual

and

catalog

specify

a 50°C

ambient

operating

temperature.

The

actual

ambient

operating

temperature

should

be

40°C.

If

it:

is

not

run

at

this

temperature

fan

cooling

may

be

necessary

or

the

drive

will

fault

due

to

overtemperature.

PIN:

88-006277-09

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LE-Series

Operator's

Manual

COMPUMOTOR

CORPORATION

LE-Drive

Operator's

Manual

Table

of

Contents

Desc:riptlon

Inspection

and

Warranty

Infomatioln

Initial

Functional

Check

Ins.t:allation

and Hookup

1.

Mounting

A.

Panel

Mount

B.

Cooling

2.

Wiring

A.

Motor

Connections

B.

Line

Power

Connections

C.

Indexer

Connect:l.ons

D.

Configuration

S~dtchea

3.

Fuses

4.

Environmental

Considerations

Operation

1.

Introduction

2.

Visual

Indicators

3.

Indexer

Inputs

A.

Step

Input

B.

Direction

Input

C. Remote Power Shutdown (RPS)

Input

D.

Overdrive

Input

4.

Motor

Compatibility

5.

Line

Power

Considerations

Spe(~if1cations

Input

and

Output

Description

App4!ndicesAppendix

A:

Appendix

B:

Appendix C:

,Appendix

D:

Connector

listing

LE-Drive

dimensional

drawlng

Switch

location

drawing

Voltage

selection

instruction

Copyright

1985, Compumotor

Corporation

Specifications

subject

to

change

without

notice.

Compumotor

1

2

3

4

5

6

8

9

10

11

12

13

14

15

16

p.i

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,

Dl~SCRIPTION

LE-Series

Operator's

Manual

DI~SCItIPTIOH

Compumotor's

LE-Drive

is

a

very

low

EMI

(electro-magnetic

interference)

micros~epping

motor

drive.

The

LE-Drive

is

a

linear

design

intended-

fOl'

those

applications

where

EMI

must be

kept

to

an

absolute

minltnum. The

LE-Drive

is

a

"microstepping"

drive:

That

is

to

say

it

giv~s

a

large

number

of

small

steps

for

each

full

step

of

the

step

motor

i~

is

driving.

The

standard

resolution

is

25,000

steps

per

motor

revolution,

or

125

steps

per

full

motor

step

of

a 200

step

motor.

50,000

steps

per

revolution

may

be

selected

as

shown

below.

Two

other

features

are

included

with

the

LE-Drive

which

were

previously

unavailable.

Th,;!se

are

the

OVERDRIVE

input

and

the

stand-by

operating

mode.

OVERDRIVE

boosts

the

motor

current

from

its

set

level

to

approximately

double

(three

amps maximum)

for

as

long

as

the

OVERDRIVE

input

is

held

active.

This

allows

a

momentary

increase

in

motor

torque.

The

OVERDRIVE

feature

is

activated

by

the

indexer

controlling

the

LE-Drive.

The

stand-by

feature

allows

the

current

to

the

motor

to

be

reduced

after

the

LE-Drive

has

not

received

motor

step

pulses

for

about

two

seconds.

The

feature

is

enabled

or

disabled

by

using

the

configuration

switches

described

in

the

Installation

and Hookup

Section.

The

LE-Drive

has

two

user

selectable

motor

resolutions:

and

50,000

steps

per

revolution.

Either

resolution

may

selected

by

the

configuration

switches

described

in

the

Installation

and Hookup

Section.

25,000

be

All

inputs

and

outputs

use

industry

standard

connectors

for

ease

of

installation

and low mean

time

to

repair.

Compumotor

p.

1

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lNSPECTION

AND

WARRANTY

LE-Ser1es

Operator's

Manual

INSPECTION

Your

LE-Drive

should

be

1.nspected

upon

receipt

for

obvious

damage

to

its

shipping

container.

Report

any

such

damage

to

the

shipping

company

as

800n

as

possible.

as

Compumotor

cannot

be

held

responsible

for

damage

incurred

in

shipment.

The

LE-Drive

should

then

be

carefully

unpacked and

inspected

for

the

following

items

to

be

present

and

in

good

condition.

1.

LE-Drive

unit

2.

Motor

3.

AC

power

cord

4.

Connector,

2SD,

solder

type

with

shell

liA.R.R.ANTY

INFORMATION

Your

LE-Drive

is

warranted

against

manufacturing

defects

for

one

year

from

the

date

of

purchase.

Should

you

have

questions

about

operationg

the

LE-Drive,

your

Compumotor

representatives

and

distributors

stand

ready

to

support

your

individual

needs.

Call

Compumotor

Corporation

at

the

number

listed

below

to

get

the

name,

address

and phone flumber

of

the

Compumotor

representative

nearest

you.

Should

return

of

your

Motor

Controller

be

required

to

effect

repairs

or

upgrades,

do

the

following,

Compumotor

1. Get

the

ser.ial

number

of

the

defective

unit

(and a

purchase

order

for

repair

costs

if

the

unit

is

out

of

warranty.

2.

Call

Compumotor

for

a

Return

Material

Authorization

Number

(RMA)

at

800-358-9068

except

in

California.

In

California,

call

collect

at

707-778-1244.

3.

Ship

the

unit

to:

Compumotor

Corporation

1179

N.

McDowell

Blvd.

Petaluma,

CA

94928

Attn:

RMAr1

xxxxxxxx

p.

2

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\

FUNCTIONAL

CHECK

LE-Series

Operator's

Manual

FUNCTIONAL

CHEn

In

order

to

make a

functictnal

.:hec!<

of

the

LE-Drive

it

i8

flecessary

to

first

at-:1ach

motor,

indexer

and power

leads

to

it

as

~~xplained

in

the

installation

and

hookup

section,

below.

The

indexer

need

not

be

used

for

an

initial

test.

A

square-wave

generator

may

be

attached

to

the

Indexer

inputs

instead.

JJsing

.!.

square-wave

gene..E~

instead.£!..!!!.

indexer.

The

positive

or

"hot"

lead

of

the

square-wave

generator

should

be

.!lttached

to

the

STEP+

input

on

LE-Dri

vee Ground from

the

frequency

generator

should

be

attached

to

STEP-. The

output

of

the

square-wave

generator

should

be

set

to.3

volts

peak.

There

1s

an

82

ohm

resistor

and

LED

in

series

between

the

STEP+

and

STEP-

inputs.

The

current

through

these

components

should

not

exceed

20

IDA

for

reliable

operation.

To

verify

that

the

LE-Drive

is

operating

properly,

1.

Attach

the

motor

cable

to

the

LE-Drive.

Be

sure

the

motor

shaft

is

free

to

rotate.

2.

Apply

power

to

the

LE-Drive

(115

VAC)

and

apply

a

one

kHZ

square

wave

to

the

STEP

inputs.

This

will

cause

a 25,000

steps

per

revolution

motor

to

rotate

at

the

rate

of

one

revolution

every

25

seconds

in

the

counter-clockwise

direction.

3.

All

other

inputs

may

be

left

unconnected.

By

increasing

the

frequency

of

the

square

wave you

107111

increase

the

rotational

velocity

of

the

motor.

The

motor

should

be

able

to

accept

up

to

125

kHZ

(5

RPS)

without

stalling

provided

the

motor

has

not

been

accelerated

too

quickly.

The

direction

of

the

motor

can

be

changed

by

putting

20

mA

of

current

through

the

DlRECTION+

and

DlRECTION-

inputs.

Three

volts

applied

to

DIRECTION+

and

signal

ground

applied

to

DlRECTION-

will

cause

the

motor

to

rotate

in

the

clockwise

direction.

The

motor

will

not

be

able

to

reverse

direction

instantly,

however,

it

is

necessary

to

slow

the

motor

to

less

than

one-half

rev

per

second

to

allow

a

direction

reversal

without

stalling

the

motor.

Checkout

of

the

OVERDRIVE

and

SHUTDOWN

inputs

are

not

considered

a

portion

of

the

basic

functional

checkout

of

the

LE-Drive.

These

are

covered

under

the

Operation

section

of

this

manual.

Compumotor

p.

3

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INSTALLATION

AND

HOOKUP

LE-Series

Operator's

Manual

INSTALLATION

AND

HOOKUP

-

1.

Mounting

A.

Panel

Mount

The

LE-Drive

has

.~"

brackets

notched

to

accept

screws

on

either

end

to

facilitate

mounting

to

flat

panel

surfaces.

The

unit

should

be

securely

mounted

to

prevent

it

from moving

unexpectedly,

as

this

could

cause

an

unsafe

condition

to

occur.

Mounting

it

so

that

its

heat

sink

fins

run

vertically

will

augment

convection

cooling.

B.

Cooling

The

LE-Drive

should

be mounted

in

an

area

that

will

allow

air

to

circulate

over

its

heat

sink.

Sufficient

cooling

may

be

derived

from

convection

cooling

provided

the

LE-Drive

is

mounted

in

free

air

(preferably

with

its

heat

sink

aligned

vertically).

In

a

normal

factory

environment

this

will

seldom

be a

problem.

The

LE-Drive

is

designed

to

operate

in

an

environment

ranging

from

OOF

to

122°F

(O

to

50°C)

without

being

actively

cooled.

In

a

confined

environment,

however,

the

LE-Drive

should

be

actively

cooled

with

forced

air

such

that

the

heat

sink

temperature

never

exceeds

1490r

(65

0

C).

Compumotor

p.

4

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INSTALLATION

AND

HOOKUP

LE-Series

Oper~to~'s

~anual

2.

lUring

A.

Motor

Connections

i

The

LE-Drive

is

normally

supp11~d

with

a motor

complete

with

~able

and

connector.

Typically,

plugging

the

motor

cable

into

the

drive

is

all

that

is

required.

Contact

the

factory

for

further

details

about

configuring

the

LE-

Drive

for

motors

other

than

provided

by

the

factory.

E.

Line

Power

Connections

120

VAC

power

is

connected

via

the

lEC power

connector.

The

drive

Is

supplied

with

the

correct

mating

power

cord.

The

user's

120VAC

or

220

VAC

power

system

must

be

a

three

wire

system

that

include~

an

earth

(safety)

ground.

If

the

power

cord

is

modified

or

the

user

supplies

his

own

cord,

the

wires

should

be

conneeted

as

follows.

U-Drive

120

VAC

or

220

VAC

LINE

120

VAC

or

220

VAC

NEUT

AC

GND

Wire

eolor

Blaek

(blue)

lJhite

(brovo)

Green

(green

with

yellow)

See Appendix D

to

eonfigure

C.

Indexer

Connections

S'I'EP+

and STEP-

both

must

be

connected

to

run

the

motor.

DlRECTION+

and DlRECTION- 'need

only

be

connected

if

the

motor

need be

run

bi-directionally.

SHUTDOWN+

and

SHUTDOWN-

must

be

connected

if

the

motor

is

to

be

shutdown

remotely

without

powering

down

the

drive.

A Comumotor

indexer

to

LE-Drive

cable

i.5

supl1ed

with

the

LE-Dri

vee The Compumotor

indexer

to

LE-

Drive

cable

is

connected

as

follows:

Indexer

lJire

color

,

--

STEP+

Red

1

ST£P-

Black

14

DlRECTION+

Green 2

DIRECTION-

White

IS

RPS+

Blue 16

RPS- Brown

17

OV£RDRIVE+

Violet

11

OV£RDRIVE-

Yellow

23

D.

Couf1gurat1oD

Switches

The

LE-Drive

ha

••

bank

of

eight

switches

mounted on

its

main

printed

circuit

board.

The

switches

may

be

accessed

by

removing

COnlpumotor

p.

5

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INSTALl.ArION

AND

HOOKUP

LE-Series

Operator's

Manual

the

four

screws

securing

the

indexer/motor

connection

end

of

the

LE'-Dri

',e

as

,hOWD

in

Appendix

c:.

The

switches

are

defined

as

follows,

I.E-Dr!

"e

Swi

t

ches

'

1--\

2--

\

Reserved

3--

/--

1.--/

5--on/4'Jff •

motor

stand-by

is

enabled/disabled

6--Reserved

-

(must

be

ON)

U 1.3-34

OFF

ON

OFF

7--\

Motor

resolution

selection

8--'-

(See

table

below)

S~dtches

7 and 8

are

defined

as,

--.---.-

7 8

---

Factory

Settings

LE

57-40

ON

OFF

LE

57-51

ON

OFF

ON

Otl

on

25,000

steps

per

revolution

LE

57-83

ON

OFF

ON

011

off

oU

off

on

off

50,000

steps

per

revolution

maximum

smoothness

50,000

steps

per

rev.

max.

step-step

accuracy

200

steps

per

revolution

TIle

motor

stand-by

function

allows

programming

of

the

LE-Drive

to

reduce

the

current

to

motor

after

receiving

no

step

pulses

for

about

2

seconds.

This

allows

the

motor

and

LE-Drive

to

remain

cc)ol,

minimizing

heating

effects

in

the

immediate

environment.

Once

switch

S5

is

activated

the

stand-by

feature

1s

completely

alJtomliitic and

may

be

disabled

only

by

shutting

off

S5

or

hsuing

mC)tor

step

pulses

to

the

LE-Drive.

NI'J

other

user

adjustable

components

are

on

the

I.E-Drive,

for

more

ilrUoTIIlation

concerning

I.E-Drive

adjustment

consult

the

factory.

3.

Fuses

The

U:-Dri

ve

uses

one

fuse

for

AC

power.

Should

the

LE-Dri

ve

fat

1

to

fUTlction and

the

STATUS

LED

does

not

light,

check

the

120

VAC

LINE

fuse.

4.

Euvironmental

Considerations

The

mc)unting

location

for

the

motor and

driver

must

be

free

from

all

liquids

and

protected

from

all

chips

and

dust.

The

motor

is

not

suitable

for

explosive

atmospheres,

vacuum beyond 0.01

torr,

or

life-support

equipment.

Th.e

bearings

in

the

motor

are

not

sealed

aDd

must

be

protected

from

contaminants.

Ambiel[lt

condi

tions

for

the

dd

ver

are

32

to

122

degrees

Fahren-

heit

(0

to

50

degrees

Celsius)

and 20

to

90%

humidity

{DOD-

C'OmPU1:Dotor

p.

6

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\

INs:rALLATION

AND

HOOKUP

LE-Series

Operator's

Manual

condend

ng~)

The

system

can

opel'ate

from 32

to

150

degrees

Fahrenheit

(0

to

70

degrees

Celsius).

Coil

any

excess

cable

at

the

driver

and

secure

it

with

a

cable

tie.

All

wire

runs

must conform

to

all

applicable

local

eleetril:al

codes

and

OSHA

requirements.

Compumotor

p.

7

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OPERATION

LE-Series

Operato~'&.Manual

OPERATION

1.

Introduction

The

following

secUons-

outline-how

to

operate

the

LE-Drivee

Although

every

effort

has

been

made

to

provide

enough

information

to

successfully

(and

easily)

operate

the

LE-Drive,

there

are

bound

to

be ommissions

(and,

ugh,

errors).

If

you

find

any

errors

or

you

think

that

something

should

be

added

to

the

manual,

call

Compumotor

or

one

of

its

representatives

to

get

the

information

you

need.

To

check

to

see

if

the

LE-Dr.ive

is

operating

at

all,

refer

to

the

"111itial

Functional

Check"

section

of

this

manual.

2.

Visual

Indicators

-

There

is

one

bicolor

STATUS

LED

(light

emitting

diode)

indicator

on

the

indexer

connector

end

of

the

LE-Drive.

The

STATUS

LED

is

green

any

time

the

LE-Drive

power

supply

is

operational

and no

FAULT

condition

has

been

detected.

If

the

STATUS

LED

is

not

lllum1nat.ed,

AC

power

is

not

applied

or

there

is

a

drive

failure

(check

the

fuse~

The

STATUS

LED

is

red

any

time

the

LE-Drive

shuts

itself

down

because

of

an

internally

sensed

error

condition.

This

is

most

likely

to

occur

as

a

result

of

over

heating

(the

LE-Drive

has

a

built

in

temperature

sensor).

A

FAULT

may

be

cleared

by

providing

improved

drive

cooling

and/or

temporarily

removing

the

AC

power.

3.

Indexer

Inputs

Thll!

indexer

inputs

provide

the

normal

control

signals

for

the

LE-

Drive.

Following

is

a

functional

description

of

how

each

is

used.

A.

Step

Input

The

STEP

input

causes

the

motor

to

be

incremented

one

microstep.

By

applying

STEPs

at

various

rates

the

motor

is

made

to

rotate

at

proportional

velocities.

STEP

pulses

applied

first

slowly,

and

then

more

quickly

has

the

effect

of

accelerating

the

motor.

Accelerating

the

motor

too

quickly

can

cause

the

motor

to

stall.

The motor

will

STEP

in

the

direction

determined

by

the

DIRECTION

inlput.

~

Direction

Input

The

DIRECTION

input

(a.

you

might

gues.)

controls

the

direction

of

rotation

of

the

aotor.

When

this

8ignal

is

not

activated

the

Compumotor

p.

8

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OF'ERATION

LE-Series

Operator's

Manual

mc)tor

rotates

counter-clockwise

as

viewed

from

the

flange

end

of

the

motor.

The

motor

rotat.es

clockwise·

if

the

DIRECTION

input

is

activated.

c.

~!!.

Pover

Shutdown

(US)

Input

Activation

of

the

REMOTE

POWER

SHUTDOWN

(RPS)

input

causes

the

LE-Drive

to

stop

putting

current

through

the

motor.

This

will

allow

the

motor

to

freewheel

and

as

such

is

intended

to

allow

manual

positioning

of

the

load.

It

1s

not

intended

to

act

as

an

emergency

stop

for

the

aotor.

If

RPS

is-uied

in

this

fashion

the

motor

will

very

likely

move

beyond

its

desired

stopping

position.

D.

Overdrive

lEput

The

OVERDRIVE

input

causes

the

drive

to

double

the

current

to

the

motor

(three

amps maximum).

This

may

only

be

done

for

one

minute

tllaximum,

or

the

LE-Drive

will

overheat

and go

into

a

DRIVE

FAULT

c:ondition.

This

feature

should

only

be

used

to

enable

the

motor

to

llccelerate

at

rates

it

cannot

achieve

otherwise.

Compumotor

p.

9

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Parker Compumotor User manual

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